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<div class="header">
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<a href="#pro-methods">Protected Member Functions</a> &#124;
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Protected Member Functions</h2></td></tr>
<tr class="memitem:ab43ca6b1d054aa464a36bea0d4b7934c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#ab43ca6b1d054aa464a36bea0d4b7934c">checkCOMMs</a> ()</td></tr>
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<tr class="memitem:a8b401544eb4c992c7eff8d5fd47e5676"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a8b401544eb4c992c7eff8d5fd47e5676">checkStatus</a> ()</td></tr>
<tr class="separator:a8b401544eb4c992c7eff8d5fd47e5676"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3c24f8f59fee87aa4e829ca5c8f90d2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#ab3c24f8f59fee87aa4e829ca5c8f90d2">checkHardware</a> ()</td></tr>
<tr class="separator:ab3c24f8f59fee87aa4e829ca5c8f90d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a242c377e2958d04814621019013fe8cc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a242c377e2958d04814621019013fe8cc">getDeviceHealth</a> ()</td></tr>
<tr class="separator:a242c377e2958d04814621019013fe8cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17998bc48c0aa98cb414736d4683cb0e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a17998bc48c0aa98cb414736d4683cb0e">getDeviceInfo</a> ()</td></tr>
<tr class="separator:a17998bc48c0aa98cb414736d4683cb0e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abbe29195b58904a1c1c3c5183e6730df"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abbe29195b58904a1c1c3c5183e6730df"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#abbe29195b58904a1c1c3c5183e6730df">checkSampleRate</a> ()</td></tr>
<tr class="memdesc:abbe29195b58904a1c1c3c5183e6730df"><td class="mdescLeft">&#160;</td><td class="mdescRight">checkSampleRate <br /></td></tr>
<tr class="separator:abbe29195b58904a1c1c3c5183e6730df"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a21d2e05885f5dd78773fdc2c29f2a2a6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a21d2e05885f5dd78773fdc2c29f2a2a6">CalculateSampleRate</a> (int count)</td></tr>
<tr class="memdesc:a21d2e05885f5dd78773fdc2c29f2a2a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">CalculateSampleRate.  <a href="#a21d2e05885f5dd78773fdc2c29f2a2a6">More...</a><br /></td></tr>
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<tr class="memitem:a0e9ac7d5da50d40dd4f78b046a1618ae"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a0e9ac7d5da50d40dd4f78b046a1618ae">checkScanFrequency</a> ()</td></tr>
<tr class="separator:a0e9ac7d5da50d40dd4f78b046a1618ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af305323871f06007e71cc12ab8a8be9a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#af305323871f06007e71cc12ab8a8be9a">checkLidarAbnormal</a> ()</td></tr>
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<tr class="memitem:a8a3937dfb486836da1fd56ebb0016a51"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a8a3937dfb486836da1fd56ebb0016a51">checkCalibrationAngle</a> (const std::string &amp;serialNumber)</td></tr>
<tr class="memdesc:a8a3937dfb486836da1fd56ebb0016a51"><td class="mdescLeft">&#160;</td><td class="mdescRight">checkCalibrationAngle  <a href="#a8a3937dfb486836da1fd56ebb0016a51">More...</a><br /></td></tr>
<tr class="separator:a8a3937dfb486836da1fd56ebb0016a51"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a35e66729e93eeb084367a685c04feaef"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a35e66729e93eeb084367a685c04feaef">isRangeValid</a> (double reading) const </td></tr>
<tr class="memdesc:a35e66729e93eeb084367a685c04feaef"><td class="mdescLeft">&#160;</td><td class="mdescRight">isRangeValid  <a href="#a35e66729e93eeb084367a685c04feaef">More...</a><br /></td></tr>
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<tr class="memitem:a9d81d57f978ec2c1918e5bb876d91ac8"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a9d81d57f978ec2c1918e5bb876d91ac8">isRangeIgnore</a> (double angle) const </td></tr>
<tr class="memdesc:a9d81d57f978ec2c1918e5bb876d91ac8"><td class="mdescLeft">&#160;</td><td class="mdescRight">isRangeIgnore  <a href="#a9d81d57f978ec2c1918e5bb876d91ac8">More...</a><br /></td></tr>
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<tr class="memitem:a3f6a6ba2b6db3cf3f57d7feb5b25d527"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3f6a6ba2b6db3cf3f57d7feb5b25d527"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a3f6a6ba2b6db3cf3f57d7feb5b25d527">handleSingleChannelDevice</a> ()</td></tr>
<tr class="memdesc:a3f6a6ba2b6db3cf3f57d7feb5b25d527"><td class="mdescLeft">&#160;</td><td class="mdescRight">handleSingleChannelDevice <br /></td></tr>
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<tr class="memitem:ad521498bab96c5f6823c7b107bc16c88"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#ad521498bab96c5f6823c7b107bc16c88">parsePackageNode</a> (const <a class="el" href="structnode__info.html">node_info</a> &amp;node, <a class="el" href="struct_laser_debug.html">LaserDebug</a> &amp;info)</td></tr>
<tr class="memdesc:ad521498bab96c5f6823c7b107bc16c88"><td class="mdescLeft">&#160;</td><td class="mdescRight">parsePackageNode  <a href="#ad521498bab96c5f6823c7b107bc16c88">More...</a><br /></td></tr>
<tr class="separator:ad521498bab96c5f6823c7b107bc16c88"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a402f601e56a3bdb6b87bc1e4c2d35539"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a402f601e56a3bdb6b87bc1e4c2d35539">handleDeviceInfoPackage</a> (int count)</td></tr>
<tr class="memdesc:a402f601e56a3bdb6b87bc1e4c2d35539"><td class="mdescLeft">&#160;</td><td class="mdescRight">handleDeviceInfoPackage  <a href="#a402f601e56a3bdb6b87bc1e4c2d35539">More...</a><br /></td></tr>
<tr class="separator:a402f601e56a3bdb6b87bc1e4c2d35539"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0b9719b24eb399eb7e857deb8487fa95"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_c_yd_lidar.html#a0b9719b24eb399eb7e857deb8487fa95">printfVersionInfo</a> (const <a class="el" href="structdevice__info.html">device_info</a> &amp;info)</td></tr>
<tr class="memdesc:a0b9719b24eb399eb7e857deb8487fa95"><td class="mdescLeft">&#160;</td><td class="mdescRight">printfVersionInfo  <a href="#a0b9719b24eb399eb7e857deb8487fa95">More...</a><br /></td></tr>
<tr class="separator:a0b9719b24eb399eb7e857deb8487fa95"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">bool CYdLidar::CalculateSampleRate </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>count</em></td><td>)</td>
          <td></td>
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<p>CalculateSampleRate. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">count</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd></dd></dl>

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          <td class="memname">void CYdLidar::checkCalibrationAngle </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>serialNumber</em></td><td>)</td>
          <td></td>
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<p>checkCalibrationAngle </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">serialNumber</td><td></td></tr>
  </table>
  </dd>
</dl>

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          <td class="memname">bool CYdLidar::checkCOMMs </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Returns true if communication has been established with the device. If it's not, try to create a comms channel. </p><dl class="section return"><dt>Returns</dt><dd>false on error. </dd></dl>

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          <td class="memname">bool CYdLidar::checkHardware </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Returns true if the normal scan runs with the device. If it's not, </p><dl class="section return"><dt>Returns</dt><dd>false on error. </dd></dl>

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          <td class="memname">bool CYdLidar::checkLidarAbnormal </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>returns true if the lidar data is normal, If it's not </p>

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          <td class="memname">bool CYdLidar::checkScanFrequency </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Retruns true if the scan frequency is set to user's frequency is successful, If it's not </p>

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          <td class="memname">bool CYdLidar::checkStatus </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Returns true if health status and device information has been obtained with the device. If it's not, </p><dl class="section return"><dt>Returns</dt><dd>false on error. </dd></dl>

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          <td class="memname">bool CYdLidar::getDeviceHealth </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Returns true if the device is in good health, If it's not</p>
<p>Returns true if the device is connected &amp; operative </p>

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          <td>(</td>
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<p>Returns true if the device information is correct, If it's not </p>

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          <td class="memname">void CYdLidar::handleDeviceInfoPackage </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>count</em></td><td>)</td>
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<p>handleDeviceInfoPackage </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">count</td><td></td></tr>
  </table>
  </dd>
</dl>

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          <td class="memname">bool CYdLidar::isRangeIgnore </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>angle</em></td><td>)</td>
          <td> const</td>
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<p>isRangeIgnore </p>
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          <td class="memname">bool CYdLidar::isRangeValid </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>reading</em></td><td>)</td>
          <td> const</td>
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<p>isRangeValid </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">reading</td><td></td></tr>
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  </dd>
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          <td class="memname">void CYdLidar::parsePackageNode </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structnode__info.html">node_info</a> &amp;&#160;</td>
          <td class="paramname"><em>node</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="struct_laser_debug.html">LaserDebug</a> &amp;&#160;</td>
          <td class="paramname"><em>info</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>parsePackageNode </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">node</td><td></td></tr>
    <tr><td class="paramname">info</td><td></td></tr>
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          <td class="memname">void CYdLidar::printfVersionInfo </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structdevice__info.html">device_info</a> &amp;&#160;</td>
          <td class="paramname"><em>info</em></td><td>)</td>
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<p>printfVersionInfo </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">info</td><td></td></tr>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/yang/lidar_ws/src/sdk/include/<a class="el" href="_c_yd_lidar_8h_source.html">CYdLidar.h</a></li>
<li>/home/yang/lidar_ws/src/sdk/src/CYdLidar.cpp</li>
</ul>
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